introduced betaPosture for multitasking through weighing and decoupled control torques from torques caused by constraints. The latter works fine and can be used to implement multitasking through priorities, where priorities can be either set for constraints or posture control. The original alg, without these additional changes prioritizies constraint satisfaction. On the application level torque controllers are decoupled from the constraint torques as well. Check the example application for 4DoF with posture in ros-electric tree